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Asymptotically stable walking of a five-link underactuated 3-D bipedal robot

Clinical Orthopaedics and Related Research, no. 1 (2010): 37-50

Cited: 287|Views12
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Abstract

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat; the contact between the robot and the walking surface is assumed to in...More

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